Fix a bug when the device of manolayer is cpu and use_pca=False #26
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When
use_pca=False, if the device of MANO layer is CPU, it will raise error on this line. This error is due toself.th_posedirsis on cpu device butth_pose_mapis on cuda device.The reason lies in the output value of batch_rotprojs,
th_pose_map, is always on GPU. Because inside this function, it always converts the output to GPU. After this PR, the output value will remain on its original device after batch_rotprojs.In addition, the torch.svd() is deprecated in favor of torch.linalg.svd(), which follows the same convention as
np.linalg.svdto output(U, S, V_T).